ItemConference Paper

Hierarchical Mapping-Partitioning-Search with Attention-Weighted Communication for UAV Swarms in Search and Rescue Operations

Title
Hierarchical Mapping-Partitioning-Search with Attention-Weighted Communication for UAV Swarms in Search and Rescue Operations
Creator
Khetal, Ashish Ashok; Joy, Helen K.; Wagh, Rupali Sunil
Description
UAV swarm Search and Rescue (SAR) operations demand intelligent coordination to function efficiently in unfamiliar terrains while maintaining communication under bandwidth limitations. To address this, we propose a Hierarchical Mapping-Partitioning-Search (HMPS) framework that combines quadtree-based adaptive partitioning of the search area with deep reinforcement learning for region selection, together with an Attention-Weighted Flooding (AWF) communication protocol to enhance swarm coordination. The HMPS framework adapts search granularity to uncertainty and obstacle density, uses a Deep Q-Network (DQN) to learn a region-selection policy, and employs a lightweight local coverage planner to improve exploration efficiency. The AWF protocol prioritizes message relays based on content and link quality, reducing bandwidth while preserving essential information flow. This paper presents HMPS as a practical option for autonomous swarm SAR operations, and reports encouraging preliminary results in GPS-denied terrains. 2025 IEEE.
Source
IC-DECON 2025 - 2025 International Conference on Data, Energy and Communication Network, Proceedings;
Date
01-01-2025
Publisher
Institute of Electrical and Electronics Engineers Inc.
Subject
Attention-Weighted Communication; Coverage Planning; Deep Reinforcement Learning; Hierarchical Search; Multi-Agent Systems; Quadtree Partitioning; Search and Rescue; UAV Swarms
Coverage
Khetal A.A., Christ University, Department of Computer Science, Bangalore, India; Joy H.K., Christ University, Department of Computer Science, Bangalore, India; Wagh R.S., Christ University, Department of Computer Science, Bangalore, India
Rights
Restricted Access; Hardcopy may be available in the library
Relation
ISBN: 979-833159442-8;
Format
online
Language
English
Type
Conference paper

Citation

Khetal, Ashish Ashok; Joy, Helen K.; Wagh, Rupali Sunil, “Hierarchical Mapping-Partitioning-Search with Attention-Weighted Communication for UAV Swarms in Search and Rescue Operations,” CHRIST (Deemed To Be University) Institutional Repository, accessed June 18, 2026, https://archives.christuniversity.in/items/show/25818.

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